A military path planning algorithm using visualization and dynamic GIS

摘要

A Military Path Planning Algorithm (MPPA) is developed for a robot or an Unmanned Autonomous Agent (UAA) in combat situations to plan a safe and efficient path from a specified origin to destination. In a combat military environment, the only information the UAA has is the digital terrain on which it moves. The digital terrain is a set of points and Delaunay's triangles. The UAA moves on a terrain that has enemies located at certain strategic places. The UAA has sensing capability which is a function of distance, i.e., it will not know where the enemies are located unless it is at a certain distance from them. The objective is to reach the destination point from the origin in a safe (by maintaining a certain distance from enemies) and efficient manner. The MPPA is tested with two enemies located at two random positions on the terrain and the results are presented.